KIFlyTo.h

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#pragma once

#ifndef __KIFLYTO_H
#define __KIFLYTO_H
 

#include "KIProcedure.h"

class KIFlyTo : public KIProcedure
{
private:
        int reachedAtClock;
        bool reached;
        bool targetSet;
        bool isCompleted;

        int stayTimeMs;
        double maxControlFactor;
        double initialReachedDist;
        double stayWithinDist;


        DronePosition checkpoint;

public:
        KIFlyTo(DronePosition checkpoint, 
                double stayTime = 2,
                double maxControlFactorP = 1,
                double initialReachedDistP = 0.2,
                double stayWithinDistP = 0.5);

        ~KIFlyTo(void);
        bool update(const tum_ardrone::filter_stateConstPtr statePtr);
};

#endif /* __KIFLYTO_H */